Research On Wireless Multi-drive Control Based On Magnetic Coupling Resonance

Robots are becoming smaller and lighter now,especially soft robots and special robots,which have demanding requirements for size and weight due to the particularity of their application environment.Today,however,most soft and special robots are wired.Even with wireless power,an additional battery increases its size and weight,and such robots often have multiple drives that require simultaneous control,and their internal control circuits also take up a lot of space.Therefore,according to the characteristics of wireless energy transmission and frequency selection of magnetic coupling resonance,in this paper,a single input and multiple output robot control system is proposed which enables wireless energy transmission and control simultaneously.First,based on the dual-coil model,the load power and transmission efficiency estimation model of magnetic coupling resonance wireless energy transmission is established in this paper.Furthermore,a circuit parameter optimization method is proposed based on particle swarm optimization;Then,the control of single input and multiple output is realized with discrete composite signal.Moreover,on the strength of the features of the decentralized composite signal which is convenient for the realization of feedback control,the double-loop closed-loop control of the motor position loop and speed loop is realized;The control system was firstly validated in flexure-hinged parallel robots and finally applied to multi-degree of freedom pipeline sampling robots driven by shape memory alloy.The main research contents of this paper are as follows:(1)Theoretical modeling of magnetic coupling resonance for infinite energy transmissionBased on the principle of magnetic coupling resonance,a precise coil self-inductance and mutual inductance model is established by using the double-coil model,and an estimation model of load power and transmission efficiency is presented;Through Matlab/Simulink,an artificial circuit model on the basis of class E double MOS tubular inverter circuit and mutual inductance equivalent circuit is set up.Through the comparison between the simulation model and the theoretical model,the correctness of the estimation model is proved,to ensure that it can provide a theoretical basis for the structural design of the robot;In accordance with the estimation model and actual design requirements,5 parameters to be optimized are extracted.And depending on the context of the application,three optimization methods are divided,and the optimization selection of circuit parameters is implemented by using particle swarm optimization.(2)Research and verification of single input multiple output control methodFor the problem that the cables are too complicated when multiple drivers are controlled in parallel in the robot system,a single input multiple output control system based on frequency selection characteristics is proposed by utilizing the bandpass effect of LC coil itself;The control system can realize the simultaneous wireless energy transmission and control,and can control multiple drivers by inputting a composite signal;On this basis,the double loop closed-loop control of the motor position loop and speed loop is achieved by means of discrete composite signals.A Delta robot based on flexure hinge is also designed to verify the performance of the control system.In order to precisely control its motion,the flexure hinged Delta robot is accurately kinematic analyzed,and when measuring its motion,a gauge point prediction algorithm is put forward based on Kalamn filtering and double exponential filtering,which greatly reduced the data processing workload.(3)Establishment and experimental verification of multi-dof pipeline sampling robot systemA small pipeline sampling robot with four drives is designed,and a gripper is designed for sampling operation based on origami structure;The robot is driven by the control system mentioned above,which is as light and small in structure as possible,and can grasp from four directions: up,down,left and right;All the drives are driven by shape memory alloy and conducted precisely lectotype according to the shape memory alloy current thermal drive model;In the experiment,the motion of the robot is captured with Optitrack,and the result proves the feasibility of the control system and robot structure.